EP0788969B1 - Véhicule subaquatique quasi immergé autopropulsé et radiocommandé - Google Patents
Véhicule subaquatique quasi immergé autopropulsé et radiocommandé Download PDFInfo
- Publication number
- EP0788969B1 EP0788969B1 EP19970430005 EP97430005A EP0788969B1 EP 0788969 B1 EP0788969 B1 EP 0788969B1 EP 19970430005 EP19970430005 EP 19970430005 EP 97430005 A EP97430005 A EP 97430005A EP 0788969 B1 EP0788969 B1 EP 0788969B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- vehicle according
- radio
- embarked
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
Definitions
- the present invention relates to a self-propelled vehicle radio controlled unmanned underwater slightly flush with the water surface whose maneuverability allows positioning with payload accuracy, for example a television camera submerged.
- Using an unmanned radio controlled vehicle can reduce operating costs compared to using divers or of tools deployed by surface ships operated by personnel.
- the vehicle according to the invention is not a surface vessel which offers a significant wind resistance or an underwater vehicle totally submerged connected by cable to its base and which limits its placement neither an underwater vehicle made to evolve at high speed with growths (mats and keel), said vehicles being moreover complex and expensive.
- the device according to the invention is an unmanned underwater vehicle self-propelled comprising a means of protection external to the interior of which are arranged at least one sealed enclosure including various equipment necessary for the operation of the vehicle, at least one payload capable of picking up any information or measurement given in the marine environment and at least a reserve of buoyancy; said vehicle according to the invention is radio controlled and almost submerged, flush with the surface of the water thanks to its buoyancy and includes at least one radio antenna, a power source on-board electric and at least two motorbikes giving it possibility of maneuvering and moving around a point given.
- the vehicle according to the invention is characterized by very low buoyancy which can be of the order of a few for cents of its displaced volume, which makes it possible to bring out only its upper part like an iceberg to allow clearing of the water surface radio transmitting antennas (positioning, control, command).
- Said protection means is preferably a shaped chassis tubular allowing the vehicle to be placed on the ground and in which all its equipment is fixed; the on-board energy source preferably consists of electric batteries, the vehicle being designed to be able to navigate completely independently at least in terms of energy. Skates at the bottom of the chassis also contributes to the ease of its implementation.
- the device always remains floating makes it easier to weighing and recovering it easily even in the event of damage, especially if its actuators are faulty.
- Its structure and design are fairly simple and therefore less expensive than existing devices at this day as mentioned in the introduction: its implementation does not require in particular of surface support and is well suited to the controls of shallow depths, such as particularly near the coasts allowing its application in the field of control and Environmental Protection ; in particular it allows a underwater television surveillance as well as measurements, samples and drops or recovery of objects.
- the vehicle is self-propelled, the main part, which is so submerged, includes in particular the energy source and the propellants which are arranged to make the vehicle very maneuverable even when it has to operate in a station.
- the machine has a different payload according to the embodiments.
- the payload can be composed by a television camera integrated into the vehicle or offset at the end of a cable with if necessary management of the cable by a winch.
- the payload can also be constituted by sensors, integrated or deported in the same way as for the cameras of television, used to measure water quality or characteristics funds.
- the vehicle is radio controlled, it is controlled but also controlled using radio waves which connect it with a base on land or a base at sea.
- Orders are sent from the base to the vehicle by example using a radio control used in radio modeling.
- Data is also transmitted from the vehicle to the base.
- the vehicle shown in FIG. 1b is used to place or precisely move a payload built into the vehicle or offset via a cable unwound from an underwater winch on board the vehicle
- the offset could also be obtained in some cases with a simple cable deployed under the vehicle and fixed length.
- the payload can be defined according to the missions, by example for reconnaissance or inspection missions it can be made up of submerged television cameras, placed at the lower part of the vehicle for any visual observations in below it, or sensors for measuring water quality (dissolved oxygen, nitrates %) or instruments for measuring soil or subsoil characteristics (bathymetry, imagery, sediment penetration,).
- the remote payload can be tele-operated and include actuators ranging from example up to propulsion.
- the device as shown in Figure 1a includes a shore or sea base from which the vehicle is ordered and controlled by radio waves.
- the device also includes the vehicle whose arrangement is presented in perspective in Fig. 2.
- the vehicle is built around a light chassis made of aluminum comprising on the one hand two skids which give a seat to the machine in particular when it arrives on the coast and which support the main equipment and on the other hand a defense going around the whole machine. This defense allows fix the propellants inside the protective perimeter.
- the number of thrusters is at least two to ensure good maneuverability, vertically from a point that we want to observe, for example in video, on the background and can be higher depending of the maneuverability sought. Actuators or powerplants vertical or orientation of those horizontal can also be added to obtain a total immersion of the vehicle during certain ad hoc mission phases such as for direct debits.
- Four motorbikes are represented on the figures below oriented two by two along axes perpendicular.
- a waterproof box is attached to the two pads via compliant supports. Inside this marinated box are installed rechargeable batteries, power supplies and command and control electronics.
- the vehicle with on-board equipment such as a means of acoustic transmission comprising at least one submerged transmitter and / or receiver capable of commanding and / or controlling a device remotely. distinct from the vehicle by orders transmitted by acoustic voice. This would be the case, for example, when measurements collected by a bottom station are collected. This could also be the case where we want to remotely control actions on a fixed submerged device like a bottom station or as mobile as another vehicle could be. It would also not depart from the scope of the invention to optionally provide the vehicle with an electrical cable and / or fiber optic connection for special cases from a fixed coastal base for example. This could for example be the case where significant energy is required for operations of very long duration. This could also be the case where very high quality images have to be transmitted in real time.
- on-board equipment such as a means of acoustic transmission comprising at least one submerged transmitter and / or receiver capable of commanding and / or controlling a device remotely. distinct from the vehicle by orders transmitted by acoustic voice. This
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
- la Fig.1a montre un schéma simplifié de la base permettant la télécommande à distance du dispositif suivant l'invention,
- la Fig.1b représente une vue latérale en coupe partielle simplifiée du véhicule inhabité subaquatique quasi immergé suivant l'invention.
- la figure 2 représente une vue prespective du véhicule suivant l'invention.
- une radio-commande qui permet de commander le véhicule et notamment ses propulseurs ,
- un écran de télévision recevant les images et les données transmises par le véhicule tout en étant relié d'une part à un ordinateur personnel qui permet un traitement en temps réel avec un archivage spécifique et d'autre part à un magnétoscope qui permet les enregistrements des vues sous-marines et des données, notamment de positionnement, sur un support magnétique commun selon un standard usuel.
- des antennes 7 pour permettre le positionnement grâce à un système de radio localisation ou de positionnement (par satellites comme avec le Global Positioning System, de base ou différentiel; ou autre), la commande (radio-commande de modélisme par exemple), le contrôle (les signaux vidéos des caméras embarqués étant ainsi radio transmis mais pouvant aussi enregistrés sur le véhicule ainsi que toutes données de télésurveillance, informations et mesures relevées dans le milieu marin grâce aux divers capteurs embarqués),
- un flash intermittent 12 qui permet le repérage de surface,
- une caméra de télévision 17 de pilotage et de surveillance en surface du plan d'eau pour aider le pilotage en particulier lors des déplacements éloignés et surveiller les abords du site où le véhicule est amené à opérer.
On ne sortirait pas non plus du cadre de l'invention en dotant en option le véhicule d'une liaison par câble électrique et/ou à fibre optique pour des cas particuliers depuis une base fixe côtière par exemple. Ce pourrait être par exemple le cas où une énergie importante est nécessaire pour des opérations de très longue durée. Ce pourrait être aussi le cas où des images de très haute qualité doivent être transmises en temps réel.
Claims (11)
- Véhicule inhabité subaquatique (1) auto propulsé comportant un moyen (3) de protection externe à l'intérieur duquel sont disposés au moins une enceinte étanche (4) comprenant divers équipements nécessaires au fonctionnement du véhicule, au moins une charge utile (8,9) apte à relever toute information ou mesure donnée dans le milieu marin et au moins une réserve de flottabilité (5) caractérisé en ce que ledit véhicule est radio commandé et quasi immergé, affleurant la surface de l'eau grâce à sa flottabilité (4,5) et comporte au moins une antenne radioélectrique (7), une source d'énergie électrique embarquée et au moins deux moto propulseurs (6) lui donnant une possibilité de manoeuvre et de déplacement autour d'un point donné.
- Véhicule subaquatique suivant la revendication 1 caractérisé en ce que ledit moyen de protection (3) est un châssis, permettant de poser le véhicule et dans lequel tout les équipements de celui-ci sont fixés, et la source d'énergie embarquée est constituée de batteries.
- Véhicule selon l'une quelconque des revendications 1 ou 2 caractérisé en ce qu'il comporte une source d'énergie solaire.
- Véhicule selon une quelconque des revendications 1 à 2 caractérisé en ce qu'il comporte une source d'énergie thermique.
- Véhicule selon l'une quelconque des revendications 1 à 4 caractérisé en ce qu'il comporte une caméra de télévision de pilotage (17) placée à la partie supérieure de sa réserve de flottabilité (5) dépassant au dessus de la surface de l'eau et au moins une caméra de télévision (8) placée à la partie inférieure du véhicule pour toute observation visuelle en dessous de celui-ci, les signaux vidéo desdites caméras étant radiotransmis et pouvant être enregistrés sur le véhicule.
- Véhicule selon l'une quelconque des revendications 1 à 5 caractérisé en ce qu'il comporte un système de radiolocalisation ou de positionnement par satellite transmis par l'intermédiaire d'une antenne (7) placée à la partie supérieure du véhicule pour dépasser au dessus de la surface de l'eau.
- Véhicule selon l'une quelconque des revendications 1 à 6 caractérisé en ce que ladite charge utile est au moins constituée d'instruments de mesure de la qualité de l'eau et/ou des caractéristiques du sol ou du sous sol.
- Véhicule selon l'une quelconque des revendications 1 à 7 caractérisé en ce que ladite charge utile est constituée au moins d'instruments permettant des prélèvements ou des interventions sur le fond de la mer tels que le dépôt et le relevage d'objets ou encore de largages.
- Véhicule selon l'une quelconque des revendications 1 à 8 caractérisé en ce que la dite charge utile et/ou ladite caméra de télévision(8) est déportée (9) par un câble déployé sous ledit véhicule.
- Véhicule selon la revendication 9 caractérisé en ce que ledit câble (10) est déroulé depuis un treuil sous-marin (11) embarqué sur ledit véhicule.
- Véhicule selon l'une quelconque des revendications 1 à 10 caractérisé en ce qu'il comporte un équipement embarqué, dont au moins un émetteur et/ou récepteur acoustique immergé, apte à commander et/ou contrôler à distance un dispositif distinct du véhiculepar des ordres transmis par voix acoustique.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9601598A FR2744694B1 (fr) | 1996-02-09 | 1996-02-09 | Vehicule subaquatique quasi immerge autopropulse et radiocommande |
FR9601598 | 1996-02-09 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0788969A1 EP0788969A1 (fr) | 1997-08-13 |
EP0788969B1 true EP0788969B1 (fr) | 2001-11-21 |
Family
ID=9489019
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19970430005 Expired - Lifetime EP0788969B1 (fr) | 1996-02-09 | 1997-02-07 | Véhicule subaquatique quasi immergé autopropulsé et radiocommandé |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0788969B1 (fr) |
DE (1) | DE69708349D1 (fr) |
FR (1) | FR2744694B1 (fr) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6148759A (en) * | 1999-02-24 | 2000-11-21 | J. Ray Mcdermott, S.A. | Remote ROV launch and recovery apparatus |
WO2003086850A2 (fr) * | 2002-04-10 | 2003-10-23 | Board Of Regents, The University Of Texas System | Embarcation de surface autonome |
FR2991043B1 (fr) * | 2012-05-23 | 2017-01-20 | Mesuris | Systeme et procede de cartographie d'un ouvrage immerge ou semi-immerge. |
ITMI20121871A1 (it) * | 2012-10-31 | 2014-05-01 | Eni Spa | Sistema sottomarino autonomo per il monitoraggio ambientale 4d |
CN109110093B (zh) * | 2018-08-30 | 2023-09-01 | 中华人民共和国天津海关 | 半潜式无人水尺观测器 |
CN109616956A (zh) * | 2018-11-01 | 2019-04-12 | 国网浙江省电力有限公司 | 有缆遥控水下机器人对海底电缆的巡检系统及其作业方法 |
CN112120673A (zh) * | 2020-09-23 | 2020-12-25 | 江苏海洋大学 | 太阳能水下动物声乐认知监测浮标系统和监测方法 |
CN112896469B (zh) * | 2021-01-27 | 2022-01-28 | 广州大学 | 一种基于水下机器人的设备搭载平台 |
CN115009447A (zh) * | 2022-06-07 | 2022-09-06 | 河海大学 | 一种漂浮式水下测量智能平台 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3958922A (en) | 1974-09-20 | 1976-05-25 | John Zink Company | Duct burner assembly |
DE2938319C2 (de) * | 1979-09-21 | 1983-01-13 | Günther Rudi Prof.Dr.rer.nat. 7512 Rheinstetten Laukien | Doppelrumpf-Wasserfahrzeug |
US4502407A (en) * | 1982-04-12 | 1985-03-05 | Shell Oil Company | Method and apparatus for cleaning, viewing and documenting the condition of weldments on offshore platforms |
GB8405099D0 (en) * | 1984-02-28 | 1984-04-04 | Donnelly K | Hydrographic survey module |
FR2565195B1 (fr) * | 1984-05-29 | 1986-09-05 | Gass Andre | Vehicule marin semi-submersible |
FR2570473B1 (fr) | 1984-09-19 | 1989-07-13 | Pillard Chauffage | Perfectionnements aux bruleurs a gaz a ecoulement parallele comportant une rosace et un moyeu d'accrochage de flamme concernant les bruleurs a gaz et l'alimentation independante en air central |
US5283767A (en) * | 1992-02-27 | 1994-02-01 | Mccoy Kim | Autonomous oceanographic profiler |
FR2697001B1 (fr) * | 1992-10-19 | 1994-11-18 | Thomson Csf | Véhicule sous-marin porteur de moyens de détection. |
DE9407816U1 (de) * | 1994-05-11 | 1995-09-14 | Koch, Peter H., 76228 Karlsruhe | Badeinsel |
US5577942A (en) * | 1995-07-28 | 1996-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Station keeping buoy system |
-
1996
- 1996-02-09 FR FR9601598A patent/FR2744694B1/fr not_active Expired - Fee Related
-
1997
- 1997-02-07 EP EP19970430005 patent/EP0788969B1/fr not_active Expired - Lifetime
- 1997-02-07 DE DE69708349T patent/DE69708349D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE69708349D1 (de) | 2002-01-03 |
FR2744694A1 (fr) | 1997-08-14 |
FR2744694B1 (fr) | 1998-04-30 |
EP0788969A1 (fr) | 1997-08-13 |
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